Safe way to pick up street walker

Does anyone know if there is a safe way (legally) to pick up a street walker? I've seen a big increase in girls around mespil hotel in Dublin and I'd love to try one for the thrill but I'm scared of ending up in a Garda sting.

If I drive a car to near one and let her approach the car and proposition me (ie I initiate nothing) am I safe or still at risk?